EP1941745A1 - Procede et dispositif de prise de vue stereoscopique d'objets permettant d'obtenir une visualisation tridimensionnelle - Google Patents

Procede et dispositif de prise de vue stereoscopique d'objets permettant d'obtenir une visualisation tridimensionnelle

Info

Publication number
EP1941745A1
EP1941745A1 EP05760830A EP05760830A EP1941745A1 EP 1941745 A1 EP1941745 A1 EP 1941745A1 EP 05760830 A EP05760830 A EP 05760830A EP 05760830 A EP05760830 A EP 05760830A EP 1941745 A1 EP1941745 A1 EP 1941745A1
Authority
EP
European Patent Office
Prior art keywords
cameras
image
camera
distance
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05760830A
Other languages
German (de)
English (en)
Inventor
Rolf-Dieter Naske
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
RAUCHDOBLER, EDUARD
Original Assignee
Expert Treuhand GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Expert Treuhand GmbH filed Critical Expert Treuhand GmbH
Publication of EP1941745A1 publication Critical patent/EP1941745A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors

Definitions

  • the invention relates to a method and a device for the stereoscopic recording of objects for a three-dimensional visualization, in particular with an autostereoscopic monitor.
  • autostereoscopic monitors In the area of three-dimensional visualization of spatial images, autostereoscopic monitors have been increasingly developed in recent years. These monitors have the advantage that no additional vision aids such as polarization glasses or the like are required to obtain a spatial image impression. Furthermore, it is possible to simultaneously display a number of lateral perspectives with such monitors in such a way that even such viewers can see a three-dimensional image whose viewing direction is not perpendicular but obliquely directed to the display surface of the monitor.
  • a general object on which the invention is based is to provide a method and a device with which the object (s) in three perspectives with a comparatively small apparatus and circuit complexity with high stereoscopic reproduction quality three-dimensional can be included. This object is achieved by a method according to claim 1 and / or according to claim 2 and a device according to claim 8.
  • a method and a device of the aforementioned type is to be created, with which objects with a high stereoscopic reproduction quality can also be recorded in a plurality of lateral perspectives in order to visualize them, in particular on an autostereoscopic monitor in such a way that Such viewers, whose directions are not perpendicular, but obliquely directed to the monitor surface, can see a spatial image.
  • FIG. 1 is a schematic representation of the imaging geometries in the case of two perspectives in plan view
  • FIG. 2 is a schematic representation of the viewing directions of a plurality of cameras for reproducing a plurality of perspectives
  • FIG. 1 is a schematic representation of the imaging geometries in the case of two perspectives in plan view
  • FIG. 2 is a schematic representation of the viewing directions of a plurality of cameras for reproducing a plurality of perspectives
  • FIG. 1 is a schematic representation of the imaging geometries in the case of two perspectives in plan view
  • FIG. 2 is a schematic representation of the viewing directions of a plurality of cameras for reproducing a plurality of perspectives
  • FIG. 1 is a schematic representation of the imaging geometries in the case of two perspectives in plan view
  • FIG. 2 is a schematic representation of the viewing directions of a plurality of cameras for reproducing a plurality of perspectives
  • Fig. 3 is a schematic illustration of the positioning of cameras for reproducing a plurality of perspectives
  • FIG. 4 is a block diagram of a first embodiment of the device according to the invention.
  • 5 shows a flow chart of a first embodiment of the method according to the invention
  • 6 is a block diagram of a second embodiment of the device according to the invention
  • FIG. 7 shows a flow chart of a second embodiment of the method according to the invention.
  • 8 is a block diagram of a third embodiment of the device according to the invention.
  • FIG. 9 is a flowchart of a third embodiment of the method according to the invention.
  • FIG. 1 (A) shows in plan view two cameras K1 and K2 which are mounted on a common stereo base E and aligned with an object point F.
  • the vertical distance s between the object point F and the stereo base E is also referred to as parallax.
  • the point of intersection of the camera viewing directions, which corresponds to the focused object point F lies on the central axis M between the cameras, so that they have the same distance from the object point F and in each case have an angle ⁇ which is the same in magnitude the parallel viewing direction are pivoted inward.
  • this is realized, for example, in such a way that the cameras are pivotally mounted on a common base or platform.
  • the dummy window is the area of the real object plane surrounding the object point F in a vertical plane (dummy window plane SF), which is to be imaged onto the display surface of a monitor Mo according to FIG. 1 (B) (also in plan view), from a viewer with the left one and the right eye Al, A2.
  • the apparent window spacing represents essentially the distance of the dummy window plane, in which the viewing directions of the cameras Kl and K2 meet in object point F (fixed point).
  • the spatial image impression then extends into a region B in front of and behind the targeted object point F.
  • all the cameras according to FIG. 3 should have the same distance from the targeted object point F1 or F2, so that they must be positioned on a circle with the relevant object point as the center point. This means that for each target object point, the cameras not only have to be rotated at different angles, but must also be displaced to different degrees in the direction of the object point F1 or F2 (for example in the positions z1 and z2, respectively).
  • a viewer can then see a lateral three-dimensional perspective of the object taken for example with the cameras Kl and K2 on an autostereoscopic monitor when the image signals of the cameras Kl and K2 in a corresponding oblique viewing direction on the monitor through this being represented.
  • the effort associated with such image acquisition is to be significantly reduced.
  • the invention is also advantageous in the above case in which only two cameras are used and only two perspectives of an object point are to be recorded.
  • At least two cameras of the known type having the largest possible viewing angle, (in particular substantially 180 °), are used instead of cameras with a conventional viewing angle of, for example, approximately 20 ° to 30 ° Panoramic cameras, used.
  • the orientation of these cameras, d. H. the focusing of an object and thus the control of the dummy window, is not done by panning the cameras, but each by selecting a particular field or image area in which the targeted object point F is located from the recorded overall image, the selection is preferably such that the object point F lies in the center of this partial image or image region.
  • the size of the selected partial image or image region initially corresponds, for example, essentially to the angle of view of a camera of conventional type (that is to say, for example, between approximately 20 ° and approximately 30 °) or, as will be explained below, is determined.
  • the positioning of the panoramic cameras at the same distance from the targeted object point is carried out by electronic processing of the recorded images substantially in such a way that the display size of the partial images or image areas is changed accordingly.
  • Almost any panoramic camera can be used, such as those with fish-eye lenses, multiple lenses or faceted lenses.
  • the first embodiment of the device according to the invention comprises a number n of panoramic cameras K1,... Kn, which are arranged parallel to one another on a common carrier E, which represents the stereo base, and consecutively numbered from left to right.
  • a common carrier E which represents the stereo base
  • the image output signals of the panoramic cameras K1,... Kn are electronically processed with a pseudo-window control unit 5 in the above-mentioned manner, so that they can be visualized with a visualization system 10, which in particular drives an autostereoscopic monitor 11
  • the signal processing is preferably carried out digitally with one or more appropriately programmed data processing devices.
  • each panoramic camera K 1,... Kn preferably has an analog / digital converter, so that the recorded images (overall images) of each camera can be stored in digital form in each case in a first image memory 2.
  • the outputs of these first image memories 2 are preferably connected to the inputs of a calibration device 3 with which the images of the various cameras are calibrated depending on the type and quality of the cameras and their mounting, in particular with regard to one or more of the following parameters or also other parameters: Brightness, color spectrum, horizontal and vertical alignment, tilt, tilt, and parallelism and stereo-based alignment.
  • the digitized and calibrated overall image taken by each panoramic camera K1,... Kn is then stored in a respective second image memory 4.
  • the overall images each have a resolution of about 2000 lines, each with about 10,000 pixels.
  • the dummy window control unit 5 reads from the system memory 6, the distance d between each two adjacent panoramic cameras. These distances can be constant and all the same or different, or they can be adjusted individually and, if necessary, independently of one another, for example, if the cameras are mounted correspondingly displaceably. In this case, the setting and reading of the set distances would preferably be done with or from the control unit 7.
  • an operator selects an object to be recorded by adjusting its distance s (i.e., the distance s of the dummy window surrounding the object point F). This distance is also transmitted to the dummy window control unit 5.
  • the alignment of the cameras K 1, ... Kn on the selected object point F and their positioning on a common circle radius to the selected object point F is carried out by appropriate processing of the images taken by the panoramic camera images through the dummy window control unit. 5
  • the images recorded by the panoramic cameras Kl,... Kn are first preferably digitized, calibrated in a step "Kn kal" and stored in the second image memory 4. in order to provide it to the bill window control unit 5 for preferably serial processing.
  • the pseudo-window control unit 5 first aligns the individual panorama cameras with the same pseudo-window spacing s (or object point F) by selecting a corresponding partial image (image area) from the overall image recorded by each panoramic camera. Subsequently, the panoramic cameras are thereby positioned at an equal distance from the targeted object point F, that the selected image areas or partial images are each changed in their display size.
  • the distance to be set which is the same for all cameras, is preferably the smallest distance that one or two cameras have from the object point F, so that the partial images of the other cameras are each enlarged by different zooming.
  • the angle at which it is to be directed to the selected by the setting of the apparent window spacing s with the control unit 7 object point F is first calculated.
  • a first step Sl After reading in the number n of cameras and the apparent window distance s from the control unit 7 and the distance d between the cameras from the system memory 6 (or possibly also as explained above from the control unit 7) in a first step Sl is in a second step S2 selects an image of a camera by increasing a running index i or j, and in a third step S3 calculates the angle for this camera as follows.
  • a fourth step S4 for the calculated angle with which a camera is to be aligned, the image area (partial image) of the overall image corresponding to this angle is determined in the form of a pixel window of the relevant panoramic camera.
  • a camera is generally intended to generate a signal which is compatible with one of the current industry standards, such as the PAL, NTSC or HDTV standard.
  • This target resolution to be generated for the pixel windows also reads out the dummy window control unit 5 from the system memory 6 in the first step S1, for example.
  • a target resolution of 720 x 576 pixels is to be generated, for example, three pixels and thus a total of 2160 x 1728 pixels of the panorama image can be combined to form a PAL image.
  • the PAL image or pixel window could be shifted to the right or left by each 3920 pixel steps and thus swiveled.
  • the viewing angle calculated in the third step S3 for a panoramic camera is now in the fourth step S4 in the number of pixel steps ⁇ ; to convert a pixel window from the central or central location in the overall image of the panoramic camera must be moved to the left or right to be aligned according to the calculated viewing angle.
  • the camera image angle of 180 ° is first divided in the dummy window control unit 5 by the number of horizontally available pixels of the panorama image.
  • an angle ⁇ of 0.018 degrees results per panoramic pixel.
  • a pixel step (pixel shift) to the right or left thus corresponds to a change in the angle of the viewing direction by 0.018 degrees to the right or left.
  • ⁇ i (90 ° - ⁇ O / ⁇ to the right. The same value applies to a camera j to the right of the central axis, but the pixel shift is to the left.
  • a camera i or j After a camera i or j has been directed in this way to the targeted object point F, it now has to be virtually positioned on an equal distance for all cameras from this object point F, ie on a common circle, in the center of which the object point F is located. For this purpose, a corresponding zoom factor z is first calculated in a fifth step S 5 for the relevant camera.
  • the radius of this circle is the distance of the middle camera (which lies on the central axis M) from the object point F. This distance r opt is thus equal to the apparent window distance s.
  • the common circle radius can be determined by calculating the distance of the two cameras located on the left and right of the central axis from the object point F as follows:
  • This zoom factor z; (ZJ) can now be realized in a sixth step S6 for a determined partial image of a panoramic camera i (j) in such a way that a correspondingly smaller number of pixels of the overall image of the panoramic camera in question is combined to a macropixel of the partial image to be displayed as explained above.
  • the relevant camera i or j is now virtually arranged on a uniform distance for all cameras from the targeted object point F, so that the calculated partial image can be stored in the third image memory or target memory 8 in a further step TB , At the same time, the procedure is repeated by returning to the second step S2 for a panoramic image of the next camera.
  • the procedure for newly captured images of the panoramic cameras can be repeated with the step PB, wherein a re-calibration in general only has to be made when the cameras have been rebuilt or the scene to be recorded, for example, in terms of their brightness o.a. has changed significantly.
  • the images can then be received and decompressed in the step Re to be represented with a step Bd with a viewing system such as in particular an autostereoscopic monitor 11.
  • a viewing system such as in particular an autostereoscopic monitor 11.
  • the dummy window control unit 5 is located at the destination, that is to say at the point of view or of the visualization system 10.
  • FIG. 6 A corresponding device is shown schematically in Figure 6, in which the same components as in Figure 4 are each provided with the same reference numerals.
  • the overall images taken by the panoramic cameras K1... Kn are also digitized in this device, buffer-stored in a first image memory 2 and calibrated in a calibration device 3.
  • the images are then preferably buffered in a second image memory 4, compressed in a compression device 9 and combined in a panoramic image memory 91 and stored in compressed form (together with the value of the distance d between two adjacent panoramic cameras and their number n) to the destination to be transferred.
  • the transferred images are decompressed in both cases at the destination, if necessary, and then fed in series or in parallel to the dummy window control unit 5, processed in the manner described above (ie extracting and zooming the pixel windows) and stored in a third image memory (destination memory) 8, combined and finally reproduced with a visualization and viewing system 10, 11.
  • This second embodiment has the advantage that a plurality of visualization and viewing systems 10, 11 can be provided, each with its own pseudo-window control unit 5 with control unit 7, which are located at different destinations, but where all the same recorded images are supplied. In this way, with each dummy window control unit 5, a different apparent window spacing s can be set, ie another object can be sighted and displayed on the respectively connected viewing system 11.
  • Figure 7 shows a flow chart of this second embodiment of the method, wherein the same steps as in Figure 5 are provided with the same reference numerals.
  • the images of all the cameras are first calibrated in a step Kn kal as explained above and stored in the second image memory 4.
  • the images are now read into the compression device 9 with the step PB, compressed there with the step TB, combined in the panoramic image memory 91 and then stored to be sent with the step Tr.
  • a return is made to compress, combine and send newly captured images from the panoramic cameras, generally only having to recalibrate when the cameras are rebuilt or up the scene to be recorded, for example, in terms of their brightness or the like has changed significantly.
  • the emitted images are received in a step Re and fed to the Schem window control unit 5.
  • This reads according to the first step Sl the set apparent window spacing s from the control unit 6.
  • This and the further steps S2 to S6 correspond to the steps S1 to S6 described above in connection with the first method according to FIG. 5 and will not be described again here.
  • the partial images are combined and displayed with the visualization and viewing system 10, 11 according to step Bd, and a return to the step Re, if necessary, to repeat the procedure for another camera positioning or newly recorded and transmitted panorama pictures.
  • FIG. 8 shows a block diagram of a third embodiment of the device according to the invention.
  • the same or corresponding components as in Figures 4 and 6 are again provided with the same reference numerals.
  • the essential difference from the first and second embodiments is that in the third embodiment, conventional cameras are used with a common viewing angle of, for example, in the range between about 20 and about 30 degrees.
  • these cameras are on the common rail or base platform (stereo base E) rotatable, for example, mounted on a turntable to make an alignment on the targeted object can.
  • the images taken by the cameras are in turn preferably digitized and first calibrated after buffering in a first image memory 2 in a calibration device 3 as explained above, before being temporarily stored in a second image memory 4 and fed to the dummy window control unit 5.
  • Each turntable is preferably rotated with a digitally controllable stepper motor. This rotation or activation of the stepper motors takes place by the dummy window control unit 5 as a function of a dummy window spacing s set by means of the control unit 7 and the camera distance d read from the system memory 6 instead of the pixel shift of the partial images of each panoramic camera described above.
  • the calculation of the respective swivel angle takes place in the same way as described above for the pixel shift.
  • the required zoom factor is also calculated for each camera as explained above. Since macropixel formation is not expedient in the case of the conventional cameras for the abovementioned reasons, zooming in the manner customary for these cameras (for example optically via a change in the lens focal length or in digital form) is performed by the dummy window control unit 5 in order to arrange the cameras virtually at an equal distance around the targeted object.
  • the cameras are preferably digitally controlled for these purposes via a known interface such as IEEE 1394 or DCAM by means of the dummy window control unit 5.
  • the subsequently acquired images are in turn preferably combined in a third image memory (destination image memory) 8 and stored to be compressed by a compression device 9 and transmitted to a visualization system 10 with a corresponding viewing system 11 such as an autostereoscopic monitor.
  • step Kn kal After calibrating the cameras (step Kn kal), the currently set apparent window spacing s as well as the number n and the distance d of the cameras are read into the dummy window control unit 5 in a first step S 1.
  • a camera is selected by increasing a running index i or j.
  • step S3 the angle for this camera, with which this is to be aligned to the object point F, calculated as explained above, and in a fourth step S4, the camera is pivoted by driving the associated stepping motor with the dummy window control unit 5 accordingly.
  • a zoom factor is calculated as explained above and the camera is zoomed in a sixth step S6 in a corresponding manner by the dummy window control unit 5.
  • step BA the image is then taken with the camera and stored in the target image memory 8, before this process is repeated by returning to the second step S2 for a next camera.
  • the images recorded in this way with all the cameras are combined with the step TB in the destination image memory 8 and optionally compressed in the compression device 9 before being transmitted to a receiving station in a step Tr, so that the process for newly captured images with the first Step S1 can be repeated.
  • the received images are optionally decompressed at the receiving station (step Re) and displayed on a viewing system 11 with a visualization system (step Bd).
  • An advantage of this third embodiment is that the pixel interpolation required in the case of a non-integer pixel shift or a non-integer zoom factor in the first and second embodiments is not required here, so that the outlay for the signal processing is lower in this respect. If the mechanical parts, in particular the stepping motors and the zooming properties of the camera, do not operate with sufficient accuracy, the generated images can be reworked accordingly by the dummy window control unit.
  • the distances between the cameras to optimize the image reproduction and / or to adapt to a selected apparent window spacing and / or the properties of an autostereoscopic monitor in oblique viewing for all cameras can be changed to the same or different extent.
  • the orientations of the cameras and the individual zoom factors would have to be calculated taking into account these possibly different distances.
  • the number of cameras used is essentially determined by the number of lateral viewing perspectives that are to be displayed with the respective monitor.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

L'invention concerne un procédé et un dispositif de prise de vue stéréoscopique pour obtenir une visualisation tridimensionnelle, convenant en particulier pour la représentation de perspectives, y compris inclinées, d'observation d'un objet, sur un appareil de surveillance autostéréoscopique. Pour la prise de vue de telles perpectives, il est prévu des caméras supplémentaires dont l'orientation et/ou le positionnement par rapport à l'objet visé s'effectuent par traitement, conformément à l'invention, des données image relevées.
EP05760830A 2005-06-20 2005-06-20 Procede et dispositif de prise de vue stereoscopique d'objets permettant d'obtenir une visualisation tridimensionnelle Withdrawn EP1941745A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2005/006617 WO2006136181A1 (fr) 2005-06-20 2005-06-20 Procede et dispositif de prise de vue stereoscopique d'objets permettant d'obtenir une visualisation tridimensionnelle

Publications (1)

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EP1941745A1 true EP1941745A1 (fr) 2008-07-09

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EP05760830A Withdrawn EP1941745A1 (fr) 2005-06-20 2005-06-20 Procede et dispositif de prise de vue stereoscopique d'objets permettant d'obtenir une visualisation tridimensionnelle

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WO (1) WO2006136181A1 (fr)

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DE102016113593A1 (de) * 2016-07-22 2017-07-27 Carl Zeiss Meditec Ag Digitales Stereo-Operationsmikroskop mit variabler Stereobasis

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Publication number Priority date Publication date Assignee Title
US5856843A (en) * 1994-04-26 1999-01-05 Canon Kabushiki Kaisha Stereoscopic display method and apparatus
JPH09289655A (ja) * 1996-04-22 1997-11-04 Fujitsu Ltd 立体画像表示方法及び多視画像入力方法及び多視画像処理方法及び立体画像表示装置及び多視画像入力装置及び多視画像処理装置
AU2002356414A1 (en) * 2001-12-20 2003-07-09 Wave Group Ltd. A panoramic stereoscopic imaging method and apparatus

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